EP2318858B1 - Verbesserungen an der positionssuche eines flugzeugs über einen primärradar durch verwendung eines sekundärradars im s-modus - Google Patents

Verbesserungen an der positionssuche eines flugzeugs über einen primärradar durch verwendung eines sekundärradars im s-modus Download PDF

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EP2318858B1
EP2318858B1 EP09802533.1A EP09802533A EP2318858B1 EP 2318858 B1 EP2318858 B1 EP 2318858B1 EP 09802533 A EP09802533 A EP 09802533A EP 2318858 B1 EP2318858 B1 EP 2318858B1
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Prior art keywords
aircraft
radar
calculated
deviation
basis
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English (en)
French (fr)
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EP2318858A1 (de
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Laurent Roger
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Thales SA
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Thales SA
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/78—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted discriminating between different kinds of targets, e.g. IFF-radar, i.e. identification of friend or foe
    • G01S13/781—Secondary Surveillance Radar [SSR] in general
    • G01S13/782—Secondary Surveillance Radar [SSR] in general using multimoding or selective addressing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/872—Combinations of primary radar and secondary radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/403—Antenna boresight in azimuth, i.e. in the horizontal plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • G01S7/4034—Antenna boresight in elevation, i.e. in the vertical plane
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4091—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder during normal radar operation

Definitions

  • the invention relates to the general field of aerial surveillance. It relates more particularly to the field of radar location of aircraft.
  • a primary radar system As regards aerial surveillance it is known to perform the location of aircraft using the measurements provided by a primary radar system. Such a system makes it possible to locate an aircraft without it being actively associated with this location.
  • the primary radar performs this location by exploiting the signal corresponding to the echo backscattered by the aircraft. From this echo it is theoretically possible to accurately determine, by various known means, the distance separating the aircraft from the radar as well as the arrival directions in site and bearing of the echo reflected by the aircraft.
  • the detection of echoes by a radar gives rise, in known manner, to the creation of pads that represent the association of different echoes received and assigned to the same aircraft according to various criteria, including position and date criteria.
  • a plot gives rise to the creation of a track or is integrated with an existing track.
  • a runway is the track left by an aircraft as it passes through the space observed by the radar.
  • the accuracy of the measurements made by the radar is a function of random data such as the signal-to-noise ratio (S / B) of the echo received. It is also a function of the accuracy of operation of certain elements of the radar, such as clocks. It is still a function of the various biases related to the realization of the radar, such as, for example, the alignment bias of the radio electric axis on the axis of the antenna.
  • the various elements of the radar representing potential sources of alteration of the accuracy of the measurements, are the subject of a more elaborate design and realization, so as to increase the precision obtained and to limit the drifts during the time.
  • An object of the invention is to propose a simple solution making it possible to improve the accuracy of the location of any aircraft by a primary radar, by determining the error committed by the radar on the determination of the position of this aircraft, error which has its origin in the measurements made on the echo backscattered by the latter. Another goal is to allow a real-time correction of the determination of the position of this aircraft.
  • the first step comprises a validation operation of the geographical position information transmitted by the reference aircraft, this operation being repeated as long as the transmitted position information is not validated.
  • the geographical coordinates (latitude, longitude) and the altitude, extracted from the position information, are converted into coordinates expressed in the reference (distance, site, deposit). ) of the radar.
  • the third step comprises a prior operation to test the likelihood of the position extracted from the position information.
  • the invention also relates to an application of the method according to the invention for performing a periodic calibration of the position measurements made from a primary radar.
  • This application consists in implementing the method according to the invention and in simultaneously recording the geographical position of a reference aircraft, as well as the position of the same reference aircraft determined for the same instant by the primary radar.
  • An average position deviation ⁇ ⁇ R / G is calculated from the recorded data and used as an estimate of the measurement bias presented by the primary radar.
  • the method according to the invention is based on the principle that the position measurement performed by a primary radar is necessarily affected by inaccuracy due to various causes, the contribution of each of the causes, taken separately from the others, to the inaccuracy of the measurement at a time t not being determinable in a simple way.
  • the method according to the invention proposes a compensation mode of calculating by means of a known position reference the difference existing between the position of this reference calculated from the measurements made by the radar and the actual position of this reference. This difference is then used to correct all position measurements made by the radar.
  • the reference used to perform the correction of the measurements carried out by the primary radar is a mobile reference, a reference of opportunity, consisting of an aircraft operating in the space covered by the primary radar and chosen for its ability to transmit periodically, on request, its geographical position and altitude.
  • the geographical position is generally determined by the onboard equipment by exploiting known satellite positioning means, such as GPS or Gallileo.
  • reference aircraft is defined at a given moment, so that according to the moment considered the reference aircraft may be different, a new reference aircraft being determined each time an aircraft capable of giving its geographical position and its altitude is available.
  • the correction is made from the last reference aircraft defined in date.
  • the method according to the invention does not advantageously require the implementation of a fixed reference positioned at a precise location in the space covered by the radar, or even a permanent mobile reference.
  • This estimate can thus be used to correct the measurement made.
  • This average difference thus estimated on the reference aircraft characterizes the error made by the radar in determining the position of an object from the measurements made on the corresponding radar echo. According to the invention, it is used as an estimated bias to correct all the position measurements made on all the aircraft detected in the space covered by the primary radar.
  • the first step of the method is normally preceded by a prior step during which the reference aircraft considered is defined.
  • the choice of a given aircraft as a reference aircraft and the acquisition at different times of the geographical position and the altitude of this aircraft is based on the exploitation of the information provided by a secondary radar operating in mode S, a mode of operation known elsewhere and not described here.
  • the ground measurement station determines those aircraft at the instant considered illuminated by the secondary radar which are equipped with a transponder allowing the operation of the mode S and among these those capable of transmitting their position geographical area and their altitude.
  • this position and altitude information is generally available in a particular register, in the BDS register 5 in particular.
  • the secondary radar thus conducts a preliminary interrogation, in mode S, of all the aircraft illuminated by the radar beam to know the contents of the register BDS17 of each of these aircraft, register which indicates the capabilities of the transponder which equips the aircraft considered . It then processes the responses received and stores the mode S addresses of the aircraft which indicate that they are able to inform the BDS register 5.
  • One of these aircraft is then chosen, according to criteria defined elsewhere, to constitute the aircraft of the aircraft. reference.
  • the first step 14 of the method comprises an operation 15 which consists for the secondary radar to request the reference aircraft to communicate the contents of the BDS register 5 and to memorize this content.
  • the second step 13 of the method consists in determining by any known method, the position of the reference aircraft, from the radar echoes backscattered by the latter.
  • This position is determined, in the reference linked to the primary radar by the measured target distance ⁇ , the azimuth or the bearing ⁇ , that is to say a piece of information relating to the angular difference between a reference direction and the direction pointed by the antenna of the radar, as well as the site ⁇ , that is to say information relating to the angular difference between the plane horizontal and the direction pointed by the radar antenna.
  • the position of the reference aircraft is determined for a moment corresponding to that when the aircraft has transmitted its geographical position.
  • the third step 17 consists in calculating for the reference aircraft the difference ⁇ R / G between the position of this aircraft as it transmits it to the secondary radar, and the position of the same aircraft as measured by the primary radar from the corresponding radar echo.
  • the positions taken into account for calculating the difference ⁇ R / G are the positions corresponding to the same instant t.
  • the identification of the position determined from the measurements of the primary radar at the position supplied by the aircraft to the secondary radar is moreover carried out by any known means of association.
  • ⁇ R / G ( ⁇ ) ⁇ R- ⁇ G
  • ⁇ R / G ( ⁇ ) ⁇ R - ⁇ G
  • the method according to the invention comprises control or test operations, performed during the first step, which make it possible to guarantee the intrinsic validity of the position information provided by the reference aircraft. . Only the validated information is used during the third step to calculate the deviations ⁇ R / G.
  • the information extracted from the BDS register 5 is retained only if the T bit of the message contained in this register is set to 1, which means that the time of application of the data is synchronized with UTC (universal time), which serves in particular as a time reference common to the primary radar and the secondary radar.
  • UTC universal time
  • the latitude, longitude and altitude information, as well as the date relative to this information, are extracted from the message.
  • the position data (latitude, longitude and altitude) expressed in an absolute geographical reference, are converted into coordinates ( ⁇ , ⁇ , ⁇ ) (distance, deposit and site) in the primary radar reference.
  • control operations may be supplemented by a complementary control operation, which consists in applying to the data, at the beginning of the third step 17, a filtering relating to the likelihood of the position measurements obtained either from the radar echo or from from the position information taken from the BDS message 5.
  • a filtering relating to the likelihood of the position measurements obtained either from the radar echo or from from the position information taken from the BDS message 5.
  • the purpose of this filtering is of course to eliminate the outliers.
  • this last filtering operation on the likelihood of the data is performed for each reference aircraft, before the calculation of the position deviation ⁇ R / G. to do this, the position ( ⁇ , ⁇ , ⁇ ) G derived from the geographical position information is compared with the position ( ⁇ , ⁇ , ⁇ ) R provided by the primary radar. Quantities
  • are then compared with respective thresholds S ⁇ and Sp.
  • a more precise calculation can be obtained by not taking into account, for the estimation of the difference ⁇ R / G , that is to say for the choice of a reference aircraft, that the radar spots drawn from echoes relating to an aircraft following a rectilinear trajectory.
  • one method is to consider the tracks relating to the detected aircraft, in coordinates (x, y, z), and to perform on a sliding window a linear adjustment of each track by the least squares method. The linear correlation coefficient between the blocks constituting the window is then calculated. As a result, if the value thereof is below a value otherwise set, the pads corresponding to the window are rejected and the corresponding aircraft is not considered for the choice of a reference aircraft.
  • the size of the analysis window is for example fixed, typically 10 pads.
  • the method according to the invention comprises a fourth step 18 which performs the calculation of a mean position measurement difference ⁇ ⁇ R / G , mean deviation used to correct the position measurements made by the primary radar.
  • This step is for example carried out by performing the calculation of the average over N consecutive measurements of deviations ⁇ R / G calculated.
  • the size ⁇ ⁇ R / G is a fine estimate of the average difference between geographical position given by the reference aircraft and the position determined by the primary radar to determine the position of the aircraft operating in the space under its charge.
  • the method according to the invention thus makes it possible to estimate in real time the average difference existing between the position determined from the measurements made by a primary radar on the echo backscattered by a reference aircraft, and the position determined from the geographical coordinates and altitude provided by this aircraft to a secondary radar.
  • This difference representative of the error committed by the primary radar because of the imperfections of which it is affected, can be advantageously used to correct the position measurement performed on any aircraft present in the space covered by the primary radar.
  • the figure 2 illustrates how the method according to the invention can be applied in the particular context of a position measuring method, location, can be implemented by a measuring station comprising a primary radar and a secondary radar.
  • the process illustrated here is presented by way of non-limiting example. Its purpose is to correct in real time the error made by the primary radar on the determination of the position of any detected aircraft.
  • the localization process illustrated by the figure 2 , iteratively applies to each of the aircraft tracked by the primary radar at the rate of scanning the radar beam. For this purpose it associates, the result of the calculation 21 of the position of any aircraft, carried out by means of the measurements 11 provided by the primary radar, with the result of the calculation of the difference 19 made on the aircraft defined as reference aircraft. at the moment considered. It then performs a correction calculation 22 at the end of which we obtain a corrected value 23 of the position of the aircraft followed.
  • the error correction calculation 22 consists in subtracting, in algebraic value, the average deviation ⁇ ⁇ R / G estimated, to the position measurement performed by the primary radar, the average deviation deducted corresponding to the last average deviation calculated at the date.
  • the method according to the invention advantageously makes it possible to carry out a periodic calibration, in operational operation ("on-line”), of the primary radar without requiring the use of a test beacon or a calibration aircraft.
  • it also allows a calibration of the primary radar off operational operation ("off line"), even for a measuring station with a primary radar and a secondary radar, not including the processing means necessary to implement it.
  • it is sufficient to have external recording means and to simultaneously make an acquisition of the BDS5 register in mode S by the secondary radar and a recording of the captured GPS position, as well as a recording of the position given by the primary radar.
  • Conversion (step 14) and comparison operations are performed in a second step to determine (step 17 and 18) the measurement difference and therefore the radar measurement accuracy.
  • This "off line" procedure has the advantage over a conventional "off-line” calibration of not requiring the implementation of a calibration aircraft.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Claims (6)

  1. Verfahren zum Ermitteln eines Fehlers, der die Ermittlung der Position von im Flug befindlichen Flugzeugen beeinträchtigt, die auf der Basis von von dem Flugzeug zurückgestreuten Radarechos erfolgt, dadurch gekennzeichnet, dass es hauptsächlich Folgendes beinhaltet:
    - einen ersten Schritt (14) des Abfragens eines Referenzflugzeugs, bei dem das Flugzeug seine geografische Position und seine Höhe sendet, wobei das Referenzflugzeug aus denen ausgewählt wird, deren Position auf der Basis ihres Radarechos berechnet werden kann, und die mit einem Transponder ausgestattet sind, der zum Austauschen von Informationen im S-Modus mit einem Sekundärradar und zum Übertragen ihrer geografischen Position und ihrer Höhe über einen solchen Kanal ausgelegt ist;
    - einen zweiten Schritt (13) des Ermittelns der Position des Referenzflugzeugs auf der Basis von Messungen, die an dem von diesem Flugzeug zurückgestreuten Radarecho durchgeführt werden;
    - einen dritten Schritt (17) des Ermittelns der Abweichung zwischen der vom Referenzflugzeug gelieferten Position zu einem gegebenen Zeitpunkt und der Position des Flugzeugs, die für denselben Zeitpunkt auf der Basis der an den von dem Flugzeug zurückgestreuten Echos durchgeführten Radarmessungen ermittelt wird;
    - einen vierten Schritt (18), bei dem eine mittlere Abweichung µΔR/G berechnet wird, die definiert wird durch: μ Δ R / G n = K ⋅ μ Δ R / G ⁢ n - 1 + 1 - K ⋅ Δ R / G n
    Figure imgb0005
    wobei
    - µΔR/G (n) die bei der aktuellen Iteration berechnete mittlere Abweichung repräsentiert;
    - µΔR/G (n-1) die bei der vorherigen Iteration berechnete mittlere Abweichung repräsentiert;
    - ΔR/G(n) die bei der aktuellen Iteration berechnete Abweichung repräsentiert, wobei K einen gegebenen Integrationsfaktor repräsentiert.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass der erste Schritt einen Vorgang des Validierens von geografischen Positionsinformationen beinhaltet, die von dem Referenzflugzeug übertragen werden, wobei der Vorgang so lange wiederholt wird, wie die übermittelte Positionsinformation nicht validiert ist.
  3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass, wenn die geografische Positionsinformation validiert ist, die aus der Positionsinformation extrahierten geografischen Koordinaten (Breite, Länge) und die Höhenkoordinaten in Koordinaten umgewandelt (16) werden, die in der Referenz (Entfernung, Ort, Peilwinkel) des Radars ausgedrückt sind.
  4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass der dritte Schritt (17) einen Vorabtest der Wahrscheinlichkeit der aus der Positionsinformation extrahierten Position beinhaltet.
  5. Anwendung des Verfahrens nach einem der vorherigen Ansprüche für eine Echtzeitkorrektur der Berechnung der Position eines beliebigen Flugzeugs, die auf der Basis von Messungen erfolgt, die an dem von dem Flugzeug zurückgestreuten Radarecho zum betrachteten Zeitpunkt t durchgeführt werden, dadurch gekennzeichnet, dass es Folgendes beinhaltet:
    - einen Schritt (21) des Ermittelns der Position des Flugzeugs auf der Basis der Messungen (11), die an dem primären Radarecho durchgeführt werden, das dem Flugzeug entspricht;
    - einen Schritt (22) des Korrigierens des Messwerts, ausgeführt unter Berücksichtigung der letzten mittleren Positionsabweichung zum Zeitpunkt µΔR/G (19) und durch Subtrahieren des Wertes von dem Messwert.
  6. Verfahren zum Durchführen einer periodischen Kalibrierung der Positionsmessungen (21), die von einem Primärradar durchgeführt werden, dadurch gekennzeichnet, dass es darin besteht, das Verfahren nach einem der Ansprüche 1 bis 4 auszuführen und gleichzeitig die geografische Position eines Referenzflugzeugs sowie die für denselben Zeitpunkt vom Primärradar ermittelte Position desselben Referenzflugzeugs aufzuzeichnen, wobei eine mittlere Positionsabweichung µΔR/G auf der Basis von aufgezeichneten Daten berechnet und als Schätzung für die vom Primärradar präsentierte Messverzerrung benutzt wird.
EP09802533.1A 2008-08-01 2009-08-03 Verbesserungen an der positionssuche eines flugzeugs über einen primärradar durch verwendung eines sekundärradars im s-modus Not-in-force EP2318858B1 (de)

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Application Number Priority Date Filing Date Title
FR0804410A FR2934688B1 (fr) 2008-08-01 2008-08-01 Amelioration de la localisation d'aeronefs par un radar primaire par exploitation d'un radar secondaire en mode s.
PCT/EP2009/060055 WO2010012842A1 (fr) 2008-08-01 2009-08-03 Amelioration de la localisation d'aeronefs par un radar primaire par exploitation d'un radar secondaire en mode s

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EP2318858A1 EP2318858A1 (de) 2011-05-11
EP2318858B1 true EP2318858B1 (de) 2013-07-17

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ES (1) ES2428333T3 (de)
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CN109782247B (zh) * 2019-01-28 2020-09-22 中船重工鹏力（南京）大气海洋信息系统有限公司 一种利用航迹信息修正雷达回波的方法
CN110221263B (zh) * 2019-07-03 2021-12-14 北京电子工程总体研究所 多传感器系统的误差估计方法和系统

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GB2213339A (en) * 1987-12-02 1989-08-09 Secr Defence Relative position determination
US7218277B1 (en) * 2005-11-14 2007-05-15 Aviation Communication & Surveillance Systems, Llc Antenna failure detection

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EP2318858A1 (de) 2011-05-11

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